Research On Navigation Of Service Robot Based On Home Environment Intelligent Space

The increasing development of robot techniques makes it possible to devise and develop service robots for family applications. Quick and accurate navigation is a prerequisite to robots autonomous services.Be different from industrial environment,Home environment is composed of irregularly shaped furniture, narrow doors and people living there.The environmental structure can not be changed lightly because people's needs is first.More sensors can indeed help cognize the environment, but the robot will be bigger and more complicated in structure.So how to find a practical and efficient method without more sensors to mapping and location is a challenging subject.Our aim is to construct a navigation system for intelligent space.The service robot can simply achieve environment information by Distributive Intelligent Landmark System.Fusing the artificial landmark and odometer,the robot accurately locate itself.A star algorithm is used to search the best navigation path.A Double-threshold values Constraint method is used to path-tracking. Wall following strategy is used to avoid dynamics obstacle. The main contributions are as follows:(1) Firstly, we expounded on the general framework for navigation of service robot and analysis of key technologies. Then, we introduct the home assistant robot platform and make out an intelligent space robot navigation plan.(2) A convenient distributive intelligent landmarks system is designed to save environment information.The layered information is saved in the distributive intelligent landmarks system.In the system, the information is saved in the form of both topology and grid to support the service robot navigate in current zone.All landmarks are associated, in case the first landmark has been scanned, the other landmarks location information is achieved by the robot.(3) This paper designed a accurate and reliable location system for the service robot.Following the principle of intelligent space,the location information from stargazer landmarks is fused with the odometer to cut down error.Both methods are not effected by outside light.With the QR-code the stargazer landmarks improve the robot's location autonomy.(4) A star algorithm is adopted to search the best navigation path in topology-grid map. A Double-threshold values Constraint method is used to path-tracking.When dynamic obstacles arise,the directive direction from Breadth First Search will be adopted as the direction of wall following strategy.